From f48eb4ffbb08f66b1599003d1930e06f11bb7bee Mon Sep 17 00:00:00 2001
From: Jon Reeves <jon.reeves@elroyair.com>
Date: Wed, 5 Feb 2025 09:43:14 -0700
Subject: [PATCH 1/3] Updated FixedwingMetrics, added attitude and VFR_HUD
 publishers to the TelemetryServer

---
 protos/telemetry/telemetry.proto              |  7 +++--
 .../telemetry_server/telemetry_server.proto   | 28 +++++++++++++++++--
 2 files changed, 31 insertions(+), 4 deletions(-)

diff --git a/protos/telemetry/telemetry.proto b/protos/telemetry/telemetry.proto
index 59cc1789f..d2ea487db 100644
--- a/protos/telemetry/telemetry.proto
+++ b/protos/telemetry/telemetry.proto
@@ -755,8 +755,11 @@ message GroundTruth {
 // FixedwingMetrics message type.
 message FixedwingMetrics {
     float airspeed_m_s = 1 [(mavsdk.options.default_value)="NaN"]; // Current indicated airspeed (IAS) in metres per second
-    float throttle_percentage = 2 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
-    float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
+    float groundspeed_m_s = 2 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
+    float heading_deg = 3 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
+    float throttle_percentage = 4 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
+    float altitude_msl = 5 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
+    float climb_rate_m_s = 6 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
 }
 
 // AccelerationFrd message type.
diff --git a/protos/telemetry_server/telemetry_server.proto b/protos/telemetry_server/telemetry_server.proto
index c574d4438..b3adcbcdb 100644
--- a/protos/telemetry_server/telemetry_server.proto
+++ b/protos/telemetry_server/telemetry_server.proto
@@ -42,6 +42,10 @@ service TelemetryServerService {
     rpc PublishUnixEpochTime(PublishUnixEpochTimeRequest) returns(PublishUnixEpochTimeResponse) { option (mavsdk.options.async_type) = SYNC; }
     // Publish to "distance sensor" updates.
     rpc PublishDistanceSensor(PublishDistanceSensorRequest) returns(PublishDistanceSensorResponse) { option (mavsdk.options.async_type) = SYNC; }
+    // Publish to "attitude" updates.
+    rpc PublishAttitude(PublishAttitudeRequest) returns(PublishAttitudeResponse) { option (mavsdk.options.async_type) = SYNC; }
+    // Publish to "Visual Flight Rules HUD" updates.
+    rpc PublishVisualFlightRulesHud(PublishVisualFlightRulesHudRequest) returns(PublishVisualFlightRulesHudResponse) { option (mavsdk.options.async_type) = SYNC; }
 }
 
 message PublishPositionRequest {
@@ -125,6 +129,15 @@ message PublishDistanceSensorRequest {
     DistanceSensor distance_sensor = 1; // The next 'Distance Sensor' status
 }
 
+message PublishAttitudeRequest {
+    EulerAngle angle = 1; // roll/pitch/yaw body angles
+    AngularVelocityBody angular_velocity = 2; // roll/pitch/yaw angular velocities
+}
+
+message PublishVisualFlightRulesHudRequest {
+    FixedwingMetrics fixed_wing_metrics = 1;
+}
+
 message PublishPositionResponse {
     TelemetryServerResult telemetry_server_result = 1;
 }
@@ -187,6 +200,14 @@ message PublishDistanceSensorResponse {
     TelemetryServerResult telemetry_server_result = 1;
 }
 
+message PublishAttitudeResponse {
+    TelemetryServerResult telemetry_server_result = 1;
+}
+
+message PublishVisualFlightRulesHudResponse {
+    TelemetryServerResult telemetry_server_result = 1;
+}
+
 // Position type in global coordinates.
 message Position {
     double latitude_deg = 1 [(mavsdk.options.default_value)="NaN"]; // Latitude in degrees (range: -90 to +90)
@@ -435,8 +456,11 @@ message GroundTruth {
 // FixedwingMetrics message type.
 message FixedwingMetrics {
     float airspeed_m_s = 1 [(mavsdk.options.default_value)="NaN"]; // Current indicated airspeed (IAS) in metres per second
-    float throttle_percentage = 2 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
-    float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
+    float groundspeed_m_s = 2 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
+    float heading_deg = 3 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
+    float throttle_percentage = 4 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
+    float altitude_msl = 5 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
+    float climb_rate_m_s = 6 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
 }
 
 // AccelerationFrd message type.

From 0015cebf9e775ad7851afb93403d7d8329cb2d61 Mon Sep 17 00:00:00 2001
From: Jon Reeves <jon.reeves@elroyair.com>
Date: Fri, 7 Feb 2025 07:56:59 -0700
Subject: [PATCH 2/3] Re-order fields for backward compatibility

---
 protos/telemetry/telemetry.proto               | 10 +++++-----
 protos/telemetry_server/telemetry_server.proto | 10 +++++-----
 2 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/protos/telemetry/telemetry.proto b/protos/telemetry/telemetry.proto
index d2ea487db..09c1c9229 100644
--- a/protos/telemetry/telemetry.proto
+++ b/protos/telemetry/telemetry.proto
@@ -755,11 +755,11 @@ message GroundTruth {
 // FixedwingMetrics message type.
 message FixedwingMetrics {
     float airspeed_m_s = 1 [(mavsdk.options.default_value)="NaN"]; // Current indicated airspeed (IAS) in metres per second
-    float groundspeed_m_s = 2 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
-    float heading_deg = 3 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
-    float throttle_percentage = 4 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
-    float altitude_msl = 5 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
-    float climb_rate_m_s = 6 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
+    float throttle_percentage = 2 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
+    float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
+    float groundspeed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
+    float heading_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
+    float altitude_msl = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
 }
 
 // AccelerationFrd message type.
diff --git a/protos/telemetry_server/telemetry_server.proto b/protos/telemetry_server/telemetry_server.proto
index b3adcbcdb..0822cb1bf 100644
--- a/protos/telemetry_server/telemetry_server.proto
+++ b/protos/telemetry_server/telemetry_server.proto
@@ -456,11 +456,11 @@ message GroundTruth {
 // FixedwingMetrics message type.
 message FixedwingMetrics {
     float airspeed_m_s = 1 [(mavsdk.options.default_value)="NaN"]; // Current indicated airspeed (IAS) in metres per second
-    float groundspeed_m_s = 2 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
-    float heading_deg = 3 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
-    float throttle_percentage = 4 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
-    float altitude_msl = 5 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
-    float climb_rate_m_s = 6 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
+    float throttle_percentage = 2 [(mavsdk.options.default_value)="NaN"]; // Current throttle setting (0 to 100)
+    float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
+    float groundspeed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
+    float heading_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
+    float altitude_msl = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
 }
 
 // AccelerationFrd message type.

From 15c1a10767ef1798bf0b01868d587fadbf926ac0 Mon Sep 17 00:00:00 2001
From: Jon Reeves <jon.reeves@elroyair.com>
Date: Sat, 8 Feb 2025 14:37:39 -0700
Subject: [PATCH 3/3] PR feedback: altitude_msl -> absolute_altitude_m

---
 protos/telemetry/telemetry.proto               | 2 +-
 protos/telemetry_server/telemetry_server.proto | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/protos/telemetry/telemetry.proto b/protos/telemetry/telemetry.proto
index 09c1c9229..d3f290eea 100644
--- a/protos/telemetry/telemetry.proto
+++ b/protos/telemetry/telemetry.proto
@@ -759,7 +759,7 @@ message FixedwingMetrics {
     float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
     float groundspeed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
     float heading_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
-    float altitude_msl = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
+    float absolute_altitude_m = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
 }
 
 // AccelerationFrd message type.
diff --git a/protos/telemetry_server/telemetry_server.proto b/protos/telemetry_server/telemetry_server.proto
index 0822cb1bf..9e13474ac 100644
--- a/protos/telemetry_server/telemetry_server.proto
+++ b/protos/telemetry_server/telemetry_server.proto
@@ -460,7 +460,7 @@ message FixedwingMetrics {
     float climb_rate_m_s = 3 [(mavsdk.options.default_value)="NaN"]; // Current climb rate in metres per second
     float groundspeed_m_s = 4 [(mavsdk.options.default_value)="NaN"]; // Current groundspeed metres per second
     float heading_deg = 5 [(mavsdk.options.default_value)="NaN"]; // Current heading in compass units (0-360, 0=north)
-    float altitude_msl = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
+    float absolute_altitude_m = 6 [(mavsdk.options.default_value)="NaN"]; // Current altitude in metres (MSL)
 }
 
 // AccelerationFrd message type.